OpenRaiser/Intern-Atlas huggingface dataset:
LiSum: Open Source Software License Summarization with Multi-Task Learning
Venue: arXiv cs.SE 2023
Year: 2023

Open source software (OSS) licenses regulate the conditions under which users can reuse, modify, and distribute the software legally. However, there exist various OSS licenses in the community, written in a formal language, which are typically long and complicated to understand. In this paper, we conducted a 661-participants online survey to investigate the perspectives and practices of developers towards OSS licenses. The user study revealed an indeed need for an automated tool to facilitate license understanding. Motivated by the user study and the fast growth of licenses in the community, we propose the first study towards automated license summarization. Specifically, we released the first high quality text summarization dataset and designed two tasks, i.e., license text summarization (LTS), aiming at generating a relatively short summary for an arbitrary license, and license term classification (LTC), focusing on the attitude inference towards a predefined set of key license terms (e.g., Distribute). Aiming at the two tasks, we present LiSum, a multi-task learning method to help developers overcome the obstacles of understanding OSS licenses. Comprehensive experiments demonstrated that the proposed jointly training objective boosted the performance on both tasks, surpassing state-of-the-art baselines with gains of at least 5 points w.r.t. F1 scores of four summarization metrics and achieving 95.13% micro average F1 score for classification simultaneously. We released all the datasets, the replication package, and the questionnaires for the community.
Robot-assisted Soil Apparent Electrical Conductivity Measurements in Orchards
Venue: arXiv cs.RO 2023
Year: 2023

Soil apparent electrical conductivity (ECa) is a vital metric in Precision Agriculture and Smart Farming, as it is used for optimal water content management, geological mapping, and yield prediction. Several existing methods seeking to estimate soil electrical conductivity are available, including physical soil sampling, ground sensor installation and monitoring, and the use of sensors that can obtain proximal ECa estimates. However, such methods can be either very laborious and/or too costly for practical use over larger field canopies. Robot-assisted ECa measurements, in contrast, may offer a scalable and cost-effective solution. In this work, we present one such solution that involves a ground mobile robot equipped with a customized and adjustable platform to hold an Electromagnetic Induction (EMI) sensor to perform semi-autonomous and on-demand ECa measurements under various field conditions. The platform is designed to be easily re-configurable in terms of sensor placement; results from testing for traversability and robot-to-sensor interference across multiple case studies help establish appropriate tradeoffs for sensor placement. Further, a developed simulation software package enables rapid and accessible estimation of terrain traversability in relation to desired EMI sensor placement. Extensive experimental evaluation across different fields demonstrates that the obtained robot-assisted ECa measurements are of high linearity compared with the ground truth (data collected manually by a handheld EMI sensor) by scoring more than $90\%$ in Pearson correlation coefficient in both plot measurements and estimated ECa maps generated by kriging interpolation. The proposed robotic solution supports autonomous behavior development in the field since it utilizes the ROS navigation stack along with the RTK GNSS positioning data and features various ranging sensors.
Collecting Visually-Grounded Dialogue with A Game Of Sorts
Venue: arXiv cs.CL 2023
Year: 2023

An idealized, though simplistic, view of the referring expression production and grounding process in (situated) dialogue assumes that a speaker must merely appropriately specify their expression so that the target referent may be successfully identified by the addressee. However, referring in conversation is a collaborative process that cannot be aptly characterized as an exchange of minimally-specified referring expressions. Concerns have been raised regarding assumptions made by prior work on visually-grounded dialogue that reveal an oversimplified view of conversation and the referential process. We address these concerns by introducing a collaborative image ranking task, a grounded agreement game we call "A Game Of Sorts". In our game, players are tasked with reaching agreement on how to rank a set of images given some sorting criterion through a largely unrestricted, role-symmetric dialogue. By putting emphasis on the argumentation in this mixed-initiative interaction, we collect discussions that involve the collaborative referential process. We describe results of a small-scale data collection experiment with the proposed task. All discussed materials, which includes the collected data, the codebase, and a containerized version of the application, are publicly available.
Serberus: Protecting Cryptographic Code from Spectres at Compile-Time
Venue: arXiv cs.CR 2023
Year: 2023

We present Serberus, the first comprehensive mitigation for hardening constant-time (CT) code against Spectre attacks (involving the PHT, BTB, RSB, STL and/or PSF speculation primitives) on existing hardware. Serberus is based on three insights. First, some hardware control-flow integrity (CFI) protections restrict transient control-flow to the extent that it may be comprehensively considered by software analyses. Second, conformance to the accepted CT code discipline permits two code patterns that are unsafe in the post-Spectre era. Third, once these code patterns are addressed, all Spectre leakage of secrets in CT programs can be attributed to one of four classes of taint primitives--instructions that can transiently assign a secret value to a publicly-typed register. We evaluate Serberus on cryptographic primitives in the OpenSSL, Libsodium, and HACL* libraries. Serberus introduces 21.3% runtime overhead on average, compared to 24.9% for the next closest state-of-the-art software mitigation, which is less secure.
Quantifying Uncertainty in Aggregate Queries over Integrated Datasets
Venue: arXiv cs.DB 2023
Year: 2023

Data integration is a notoriously difficult and heuristic-driven process, especially when ground-truth data are not readily available. This paper presents a measure of uncertainty by providing maximal and minimal ranges of a query outcome in two-table, one-to-many data integration workflows. Users can use these query results to guide a search through different matching parameters, similarity metrics, and constraints. Even though there are exponentially many such matchings, we show that in appropriately constrained circumstances that this result range can be calculated in polynomial time with bipartite graph matching. We evaluate this on real-world datasets and synthetic datasets, and find that uncertainty estimates are more robust when a graph-matching based approach is used for data integration.
Haptic Guidance and Haptic Error Amplification in a Virtual Surgical Robotic Training Environment
Venue: arXiv cs.RO 2023
Year: 2023

Teleoperated robotic systems have introduced more intuitive control for minimally invasive surgery, but the optimal method for training remains unknown. Recent motor learning studies have demonstrated that exaggeration of errors helps trainees learn to perform tasks with greater speed and accuracy. We hypothesized that training in a force field that pushes the operator away from a desired path would improve their performance on a virtual reality ring-on-wire task. Forty surgical novices trained under a no-force, guidance, or error-amplifying force field over five days. Completion time, translational and rotational path error, and combined error-time were evaluated under no force field on the final day. The groups significantly differed in combined error-time, with the guidance group performing the worst. Error-amplifying field participants showed the most improvement and did not plateau in their performance during training, suggesting that learning was still ongoing. Guidance field participants had the worst performance on the final day, confirming the guidance hypothesis. Participants with high initial path error benefited more from guidance. Participants with high initial combined error-time benefited more from guidance and error-amplifying force field training. Our results suggest that error-amplifying and error-reducing haptic training for robot-assisted telesurgery benefits trainees of different abilities differently.
Learning Sequential Acquisition Policies for Robot-Assisted Feeding
Venue: arXiv cs.RO 2023
Year: 2023

A robot providing mealtime assistance must perform specialized maneuvers with various utensils in order to pick up and feed a range of food items. Beyond these dexterous low-level skills, an assistive robot must also plan these strategies in sequence over a long horizon to clear a plate and complete a meal. Previous methods in robot-assisted feeding introduce highly specialized primitives for food handling without a means to compose them together. Meanwhile, existing approaches to long-horizon manipulation lack the flexibility to embed highly specialized primitives into their frameworks. We propose Visual Action Planning OveR Sequences (VAPORS), a framework for long-horizon food acquisition. VAPORS learns a policy for high-level action selection by leveraging learned latent plate dynamics in simulation. To carry out sequential plans in the real world, VAPORS delegates action execution to visually parameterized primitives. We validate our approach on complex real-world acquisition trials involving noodle acquisition and bimanual scooping of jelly beans. Across 38 plates, VAPORS acquires much more efficiently than baselines, generalizes across realistic plate variations such as toppings and sauces, and qualitatively appeals to user feeding preferences in a survey conducted across 49 individuals. Code, datasets, videos, and supplementary materials can be found on our website: https://sites.google.com/view/vaporsbot.
CARE: Confidence-rich Autonomous Robot Exploration using Bayesian Kernel Inference and Optimization
Venue: arXiv cs.RO 2023
Year: 2023

In this paper, we consider improving the efficiency of information-based autonomous robot exploration in unknown and complex environments. We first utilize Gaussian process (GP) regression to learn a surrogate model to infer the confidence-rich mutual information (CRMI) of querying control actions, then adopt an objective function consisting of predicted CRMI values and prediction uncertainties to conduct Bayesian optimization (BO), i.e., GP-based BO (GPBO). The trade-off between the best action with the highest CRMI value (exploitation) and the action with high prediction variance (exploration) can be realized. To further improve the efficiency of GPBO, we propose a novel lightweight information gain inference method based on Bayesian kernel inference and optimization (BKIO), achieving an approximate logarithmic complexity without the need for training. BKIO can also infer the CRMI and generate the best action using BO with bounded cumulative regret, which ensures its comparable accuracy to GPBO with much higher efficiency. Extensive numerical and real-world experiments show the desired efficiency of our proposed methods without losing exploration performance in different unstructured, cluttered environments. We also provide our open-source implementation code at https://github.com/Shepherd-Gregory/BKIO-Exploration.
SparseSwin: Swin Transformer with Sparse Transformer Block
Venue: arXiv cs.CV 2023
Year: 2023

Advancements in computer vision research have put transformer architecture as the state of the art in computer vision tasks. One of the known drawbacks of the transformer architecture is the high number of parameters, this can lead to a more complex and inefficient algorithm. This paper aims to reduce the number of parameters and in turn, made the transformer more efficient. We present Sparse Transformer (SparTa) Block, a modified transformer block with an addition of a sparse token converter that reduces the number of tokens used. We use the SparTa Block inside the Swin T architecture (SparseSwin) to leverage Swin capability to downsample its input and reduce the number of initial tokens to be calculated. The proposed SparseSwin model outperforms other state of the art models in image classification with an accuracy of 86.96%, 97.43%, and 85.35% on the ImageNet100, CIFAR10, and CIFAR100 datasets respectively. Despite its fewer parameters, the result highlights the potential of a transformer architecture using a sparse token converter with a limited number of tokens to optimize the use of the transformer and improve its performance.
P2LSG: Powers-of-2 Low-Discrepancy Sequence Generator for Stochastic Computing
Venue: arXiv cs.ET 2023
Year: 2023

Stochastic Computing (SC) is an unconventional computing paradigm processing data in the form of random bit-streams. The accuracy and energy efficiency of SC systems highly depend on the stochastic number generator (SNG) unit that converts the data from conventional binary to stochastic bit-streams. Recent work has shown significant improvement in the efficiency of SC systems by employing low-discrepancy (LD) sequences such as Sobol and Halton sequences in the SNG unit. Still, the usage of many well-known random sequences for SC remains unexplored. This work studies some new random sequences for potential application in SC. Our design space exploration proposes a promising random number generator for accurate and energy-efficient SC. We propose P2LSG, a low-cost and energy-efficient Low-discrepancy Sequence Generator derived from Powers-of-2 VDC (Van der Corput) sequences. We evaluate the performance of our novel bit-stream generator for two SC image and video processing case studies: image scaling and scene merging. For the scene merging task, we propose a novel SC design for the first time. Our experimental results show higher accuracy and lower hardware cost and energy consumption compared to the state-of-the-art.
A physics-informed and attention-based graph learning approach for regional electric vehicle charging demand prediction
Venue: arXiv cs.LG 2023
Year: 2023

Along with the proliferation of electric vehicles (EVs), optimizing the use of EV charging space can significantly alleviate the growing load on intelligent transportation systems. As the foundation to achieve such an optimization, a spatiotemporal method for EV charging demand prediction in urban areas is required. Although several solutions have been proposed by using data-driven deep learning methods, it can be found that these performance-oriented methods may suffer from misinterpretations to correctly handle the reverse relationship between charging demands and prices. To tackle the emerging challenges of training an accurate and interpretable prediction model, this paper proposes a novel approach that enables the integration of graph and temporal attention mechanisms for feature extraction and the usage of physic-informed meta-learning in the model pre-training step for knowledge transfer. Evaluation results on a dataset of 18,013 EV charging piles in Shenzhen, China, show that the proposed approach, named PAG, can achieve state-of-the-art forecasting performance and the ability in understanding the adaptive changes in charging demands caused by price fluctuations.
Can you text what is happening? Integrating pre-trained language encoders into trajectory prediction models for autonomous driving
Venue: arXiv cs.CV 2023
Year: 2023

In autonomous driving tasks, scene understanding is the first step towards predicting the future behavior of the surrounding traffic participants. Yet, how to represent a given scene and extract its features are still open research questions. In this study, we propose a novel text-based representation of traffic scenes and process it with a pre-trained language encoder. First, we show that text-based representations, combined with classical rasterized image representations, lead to descriptive scene embeddings. Second, we benchmark our predictions on the nuScenes dataset and show significant improvements compared to baselines. Third, we show in an ablation study that a joint encoder of text and rasterized images outperforms the individual encoders confirming that both representations have their complementary strengths.
Discrete Denoising Diffusion Approach to Integer Factorization
Venue: arXiv cs.LG 2023
Year: 2023

Integer factorization is a famous computational problem unknown whether being solvable in the polynomial time. With the rise of deep neural networks, it is interesting whether they can facilitate faster factorization. We present an approach to factorization utilizing deep neural networks and discrete denoising diffusion that works by iteratively correcting errors in a partially-correct solution. To this end, we develop a new seq2seq neural network architecture, employ relaxed categorical distribution and adapt the reverse diffusion process to cope better with inaccuracies in the denoising step. The approach is able to find factors for integers of up to 56 bits long. Our analysis indicates that investment in training leads to an exponential decrease of sampling steps required at inference to achieve a given success rate, thus counteracting an exponential run-time increase depending on the bit-length.
Two-way Linear Probing Revisited
Venue: arXiv cs.DS 2023
Year: 2023

We introduce linear probing hashing schemes that construct a hash table of size $n$, with constant load factor $α$, on which the worst-case unsuccessful search time is asymptotically almost surely $O(\log \log n)$. The schemes employ two linear probe sequences to find empty cells for the keys. Matching lower bounds on the maximum cluster size produced by any algorithm that uses two linear probe sequences are obtained as well.
Diff-Privacy: Diffusion-based Face Privacy Protection
Venue: arXiv cs.CV 2023
Year: 2023

Privacy protection has become a top priority as the proliferation of AI techniques has led to widespread collection and misuse of personal data. Anonymization and visual identity information hiding are two important facial privacy protection tasks that aim to remove identification characteristics from facial images at the human perception level. However, they have a significant difference in that the former aims to prevent the machine from recognizing correctly, while the latter needs to ensure the accuracy of machine recognition. Therefore, it is difficult to train a model to complete these two tasks simultaneously. In this paper, we unify the task of anonymization and visual identity information hiding and propose a novel face privacy protection method based on diffusion models, dubbed Diff-Privacy. Specifically, we train our proposed multi-scale image inversion module (MSI) to obtain a set of SDM format conditional embeddings of the original image. Based on the conditional embeddings, we design corresponding embedding scheduling strategies and construct different energy functions during the denoising process to achieve anonymization and visual identity information hiding. Extensive experiments have been conducted to validate the effectiveness of our proposed framework in protecting facial privacy.
CANF-VC++: Enhancing Conditional Augmented Normalizing Flows for Video Compression with Advanced Techniques
Venue: arXiv cs.MM 2023
Year: 2023

Video has become the predominant medium for information dissemination, driving the need for efficient video codecs. Recent advancements in learned video compression have shown promising results, surpassing traditional codecs in terms of coding efficiency. However, challenges remain in integrating fragmented techniques and incorporating new tools into existing codecs. In this paper, we comprehensively review the state-of-the-art CANF-VC codec and propose CANF-VC++, an enhanced version that addresses these challenges. We systematically explore architecture design, reference frame type, training procedure, and entropy coding efficiency, leading to substantial coding improvements. CANF-VC++ achieves significant Bjøntegaard-Delta rate savings on conventional datasets UVG, HEVC Class B and MCL-JCV, outperforming the baseline CANF-VC and even the H.266 reference software VTM. Our work demonstrates the potential of integrating advancements in video compression and serves as inspiration for future research in the field.
Physics-informed reinforcement learning via probabilistic co-adjustment functions
Venue: arXiv cs.LG 2023
Year: 2023

Reinforcement learning of real-world tasks is very data inefficient, and extensive simulation-based modelling has become the dominant approach for training systems. However, in human-robot interaction and many other real-world settings, there is no appropriate one-model-for-all due to differences in individual instances of the system (e.g. different people) or necessary oversimplifications in the simulation models. This requires two approaches: 1. either learning the individual system's dynamics approximately from data which requires data-intensive training or 2. using a complete digital twin of the instances, which may not be realisable in many cases. We introduce two approaches: co-kriging adjustments (CKA) and ridge regression adjustment (RRA) as novel ways to combine the advantages of both approaches. Our adjustment methods are based on an auto-regressive AR1 co-kriging model that we integrate with GP priors. This yield a data- and simulation-efficient way of using simplistic simulation models (e.g., simple two-link model) and rapidly adapting them to individual instances (e.g., biomechanics of individual people). Using CKA and RRA, we obtain more accurate uncertainty quantification of the entire system's dynamics than pure GP-based and AR1 methods. We demonstrate the efficiency of co-kriging adjustment with an interpretable reinforcement learning control example, learning to control a biomechanical human arm using only a two-link arm simulation model (offline part) and CKA derived from a small amount of interaction data (on-the-fly online). Our method unlocks an efficient and uncertainty-aware way to implement reinforcement learning methods in real world complex systems for which only imperfect simulation models exist.
A parameterised model for link prediction using node centrality and similarity measure based on graph embedding
Venue: arXiv cs.LG 2023
Year: 2023

Link prediction is a key aspect of graph machine learning, with applications as diverse as disease prediction, social network recommendations, and drug discovery. It involves predicting new links that may form between network nodes. Despite the clear importance of link prediction, existing models have significant shortcomings. Graph Convolutional Networks, for instance, have been proven to be highly efficient for link prediction on a variety of datasets. However, they encounter severe limitations when applied to short-path networks and ego networks, resulting in poor performance. This presents a critical problem space that this work aims to address. In this paper, we present the Node Centrality and Similarity Based Parameterised Model (NCSM), a novel method for link prediction tasks. NCSM uniquely integrates node centrality and similarity measures as edge features in a customised Graph Neural Network (GNN) layer, effectively leveraging the topological information of large networks. This model represents the first parameterised GNN-based link prediction model that considers topological information. The proposed model was evaluated on five benchmark graph datasets, each comprising thousands of nodes and edges. Experimental results highlight NCSM's superiority over existing state-of-the-art models like Graph Convolutional Networks and Variational Graph Autoencoder, as it outperforms them across various metrics and datasets. This exceptional performance can be attributed to NCSM's innovative integration of node centrality, similarity measures, and its efficient use of topological information.